Alg. REF  has been prototyped in Python using the corresponding acados interface. For the nominal dynamics, evaluation and sensitivity computation is thereby performed using an acados integrator and just-in-time compiled CasADi functions [1]}; for the GP mean and covariance, the corresponding computations are carried out with PyTorch [2]} using the GPyTorch library [3]}.An open-source implementation of the following example is available at https://gitlab.ethz.ch/ics/zero-order-gp-mpc.
In the following, we compare different variants of the proposed algorithm against a “naïve” GP-MPC implementation and nominal MPC using a scalable benchmarking example.
